CN110386148A - Control method, device and the vehicle of automatic driving vehicle - Google Patents
Control method, device and the vehicle of automatic driving vehicle Download PDFInfo
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- CN110386148A CN110386148A CN201910563469.9A CN201910563469A CN110386148A CN 110386148 A CN110386148 A CN 110386148A CN 201910563469 A CN201910563469 A CN 201910563469A CN 110386148 A CN110386148 A CN 110386148A
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- braking torque
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
- B60W50/0205—Diagnosing or detecting failures; Failure detection models
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
- B60W50/035—Bringing the control units into a predefined state, e.g. giving priority to particular actuators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
- B60W50/0205—Diagnosing or detecting failures; Failure detection models
- B60W2050/021—Means for detecting failure or malfunction
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
- B60W50/0205—Diagnosing or detecting failures; Failure detection models
- B60W2050/0215—Sensor drifts or sensor failures
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
This disclosure relates to a kind of control method of automatic driving vehicle, device and vehicle, it is related to technical field of vehicle control, this method comprises: obtaining the state of the automatic Pilot component of current time vehicle, automatic Pilot component includes auto-pilot controller and sensor group, if the state of auto-pilot controller is abnormal, and the state of sensor group is normal, the environmental information acquired according to sensor group, control vehicle drives into target lane and stops, target lane is the lane in the affiliated road of current lane close to roadside, if the state of sensor group is abnormal, vehicle is controlled to stop in current lane.It can be avoided Vehicular automatic driving failure, driver fails timely adapter tube vehicle, the problem of causing to lose control of one's vehicle, improves the degree of safety of vehicle driving.
Description
Technical field
This disclosure relates to technical field of vehicle control, and in particular, to a kind of control method of automatic driving vehicle, device
And vehicle.
Background technique
With the continuous development of China's car ownership cumulative year after year and electron controls technology, match on more and more vehicles
Function for Automatic Pilot is set.Vehicle when using Function for Automatic Pilot, vehicle can on road specification, safely travel, be
User offers convenience.However, Function for Automatic Pilot is likely to occur exception, in order to guarantee the degree of safety of vehicle driving, need certainly
Switch the control strategy of vehicle when dynamic driving dysfunction.In the prior art, when vehicle detection is to Function for Automatic Pilot exception,
It would generally notify driver's adapter tube vehicle by way of sound or image, however driver possibly can not adapter tube vehicle in time
, or maloperation is carried out to vehicle, it is easy to cause to lose control of one's vehicle, there are security risks.
Summary of the invention
Purpose of this disclosure is to provide a kind of control method of automatic driving vehicle, device and vehicles, existing to solve
Driver fails timely adapter tube vehicle when Vehicular automatic driving present in technology fails, the problem of causing to lose control of one's vehicle.
To achieve the goals above, according to the first aspect of the embodiments of the present disclosure, a kind of control of automatic driving vehicle is provided
Method processed, which comprises
The state of the automatic Pilot component of current time vehicle is obtained, the automatic Pilot component includes automatic Pilot control
Device and sensor group；
If the state of the auto-pilot controller be it is abnormal, and the state of the sensor group be it is normal, according to described
The environmental information of sensor group acquisition, controls the vehicle and drives into target lane and stop, and the target lane is current lane
Close to the lane in roadside in affiliated road；
If the state of the sensor group is exception, controls the vehicle and stop in the current lane.
Optionally, if the state of the auto-pilot controller is abnormal, and the state of the sensor group is positive
Often, the environmental information acquired according to the sensor group, controls the vehicle and drives into target lane and stop, comprising:
According to the environmental information, boundary and the affiliated road of the current lane of the affiliated road of the current lane are identified
In barrier；
The target lane is determined according to the boundary of the affiliated road of the current lane；
According to the barrier in the target lane and the affiliated road of the current lane, the steering angle of the vehicle is determined
Degree and the first braking torque；
The target lane is driven into according to the steering angle and first braking torque control vehicle and is stopped.
Optionally, it is provided with external range sensor on the vehicle, if the state of the sensor group is exception,
The vehicle is controlled to stop in the current lane, comprising:
Obtain the state of the external range sensor；
If the state of the external range sensor is distance letter that is normal, being acquired according to the external range sensor
Breath controls the vehicle according to the second braking torque and stops in the current lane；
If the state of the external range sensor is exception, the vehicle is controlled according to third braking torque and is worked as described
Preceding lane parking, the third braking torque are greater than or equal to second braking torque.
Optionally, if the state of the external range sensor be it is normal, adopted according to the external range sensor
The range information of collection controls the vehicle according to the second braking torque and stops in the current lane, comprising:
According to the range information, determine that second braking torque, the range information include the vehicle-to-target
The distance of barrier, the target obstacle are the nearest barrier with the vehicle in the driving direction of the vehicle；
The vehicle is controlled according to second braking torque to stop in the current lane.
Optionally, if the state of the auto-pilot controller is abnormal, and the state of the sensor group is positive
Often, the environmental information acquired according to the sensor group, controls the vehicle and drives into target lane and stop, comprising:
If specified operation is not detected, according to the environmental information, controls the vehicle and drive into the target lane and stop
Vehicle, the specified operation have entered manual drive mode for characterizing the vehicle；
If detecting the specified operation, the vehicle driving is controlled according to the specified operation；
If the state of the sensor group is exception, controls the vehicle and stops in the current lane, comprising:
If the specified operation is not detected, controls the vehicle and stop in the current lane；
If detecting the specified operation, the vehicle driving is controlled according to the specified operation.
According to the second aspect of an embodiment of the present disclosure, a kind of control device of automatic driving vehicle, described device packet are provided
It includes:
Obtain module, the state of the automatic Pilot component for obtaining current time vehicle, the automatic Pilot component packet
Include auto-pilot controller and sensor group；
First control module, if the state for the auto-pilot controller is abnormal, and the shape of the sensor group
State be it is normal, according to the sensor group acquire environmental information, control the vehicle and drive into target lane and stop, the mesh
Marking lane is the lane in the affiliated road of current lane close to roadside；
Second control module controls the vehicle described and works as front truck if the state for the sensor group is exception
Road parking.
Optionally, first control module includes:
Submodule is identified, for according to the environmental information, identifying the boundary of the affiliated road of the current lane and described
Barrier in the affiliated road of current lane；
Submodule is determined, for determining the target lane according to the boundary of the affiliated road of the current lane；
The determining submodule is also used to according to the obstacle in the target lane and the affiliated road of the current lane
Object determines the steering angle and the first braking torque of the vehicle；
First control submodule is driven into for controlling the vehicle according to the steering angle and first braking torque
It simultaneously stops in the target lane.
Optionally, external range sensor is provided on the vehicle, second control module includes:
Acquisition submodule, for obtaining the state of the external range sensor；
Second control submodule, if the state for the external range sensor be it is normal, according to the external distance
The range information of sensor acquisition controls the vehicle according to the second braking torque and stops in the current lane；
Third control submodule, if the state for the external range sensor is exception, according to third braking torque
It controls the vehicle to stop in the current lane, the third braking torque is greater than or equal to second braking torque.
Optionally, second control submodule is used for:
According to the range information, determine that second braking torque, the range information include the vehicle-to-target
The distance of barrier, the target obstacle are the nearest barrier with the vehicle in the driving direction of the vehicle；
The vehicle is controlled according to second braking torque to stop in the current lane.
Optionally, first control module is used for:
If specified operation is not detected, according to the environmental information, controls the vehicle and drive into the target lane and stop
Vehicle, the specified operation have entered manual drive mode for characterizing the vehicle；
If detecting the specified operation, the vehicle driving is controlled according to the specified operation；
Second control module is used for:
If the specified operation is not detected, controls the vehicle and stop in the current lane；
If detecting the specified operation, the vehicle driving is controlled according to the specified operation.
According to the third aspect of an embodiment of the present disclosure, a kind of vehicle is provided, automatic Pilot component is provided on the vehicle
And controller, the automatic Pilot component include auto-pilot controller and sensor group, the controller is for executing this public affairs
Open the step in first aspect the method for embodiment.
Through the above technical solutions, the disclosure obtains the state of the automatic Pilot component of current time vehicle first, wherein
The dynamic component that drives includes auto-pilot controller and sensor group, later according to auto-pilot controller and sensor group shape
Whether state is normal, stops to control vehicle, if the state of auto-pilot controller is exception, the state of sensor group is positive
Often, then according to the environmental information that sensor group acquires, control vehicle drives into the roadside lane in the affiliated road of current lane simultaneously
Parking, if the state of sensor group is exception, control vehicle stops in current lane.Can Vehicular automatic driving fail when,
It is whether normal according to auto-pilot controller and sensor group state, it stops, is avoided come due to driving to control vehicle
The person of sailing fails timely adapter tube vehicle, the problem of causing to lose control of one's vehicle, improves the degree of safety of vehicle driving.
Other feature and advantage of the disclosure will the following detailed description will be given in the detailed implementation section.
Detailed description of the invention
Attached drawing is and to constitute part of specification for providing further understanding of the disclosure, with following tool
Body embodiment is used to explain the disclosure together, but does not constitute the limitation to the disclosure.In the accompanying drawings:
Fig. 1 is a kind of flow chart of the control method of automatic driving vehicle shown according to an exemplary embodiment；
Fig. 2 is the flow chart of the control method of another automatic driving vehicle shown according to an exemplary embodiment；
Fig. 3 is the flow chart of the control method of another automatic driving vehicle shown according to an exemplary embodiment；
Fig. 4 is a kind of block diagram of the control device of automatic driving vehicle shown according to an exemplary embodiment；
Fig. 5 is the block diagram of the control device of another automatic driving vehicle shown according to an exemplary embodiment；
Fig. 6 is the block diagram of the control device of another automatic driving vehicle shown according to an exemplary embodiment；
Fig. 7 is a kind of block diagram of vehicle shown according to an exemplary embodiment.
Specific embodiment
Example embodiments are described in detail here, and the example is illustrated in the accompanying drawings.Following description is related to
When attached drawing, unless otherwise indicated, the same numbers in different drawings indicate the same or similar elements.Following exemplary embodiment
Described in embodiment do not represent all implementations consistent with this disclosure.On the contrary, they be only with it is such as appended
The example of the consistent device and method of some aspects be described in detail in claims, the disclosure.
Before introducing the control method of automatic driving vehicle of disclosure offer, device and vehicle, first to the disclosure
Application scenarios involved by each embodiment are introduced.The application scenarios are the vehicle with Function for Automatic Pilot, and vehicle can be with
It is automobile, which is not limited to orthodox car, pure electric automobile or mixed electrical automobile, in addition to this can be applicable to other branch
Hold the motor vehicle of automatic Pilot Status Type.It is provided with automatic Pilot component on vehicle to realize Function for Automatic Pilot, drives automatically
Sailing component may include auto-pilot controller and sensor group, wherein may include multiple sensors in sensor group: camera shooting
Head, millimetre-wave radar, laser radar, ultrasonic radar, positioning component, map components etc..
Fig. 1 is a kind of flow chart of the control method of automatic driving vehicle shown according to an exemplary embodiment, such as Fig. 1
It is shown, this method comprises:
Step 101, the state of the automatic Pilot component of current time vehicle is obtained, automatic Pilot component includes automatic Pilot
Controller and sensor group.
For example, in the automatic Pilot component of vehicle, sensor group can acquire the environmental information of vehicle periphery, example
Such as: camera is for detecting lane line, barrier, and millimetre-wave radar, laser radar, ultrasonic radar are for detecting barrier
Speed, position, positioning component and map components are used to detect the position of vehicle.Sensor group sends out collected environmental information
It send to auto-pilot controller, environmental information is merged by auto-pilot controller, determine the track of suitable vehicle driving,
And according to the TRAJECTORY CONTROL vehicle driving.
When vehicle opens Function for Automatic Pilot during traveling, the shape of automatic Pilot component can be acquired in real time
State, including: the state of auto-pilot controller and the state of sensor group.Such as can according to the preset period (such as:
50ms) detect the state of auto-pilot controller and the state of sensor group.The state of auto-pilot controller can for example lead to
Cross the detection input of auto-pilot controller, whether output signal determines in the normal range.The state of sensor group is for example
It can be determined by the state of each sensor in detection sensor group, any sensor in sensor group is abnormal
(such as: sensor temperature is excessively high, output signal exceeds normal range (NR) or open circuit etc.), indicate that the state of sensor group is different
Often.
Step 102, if the state of auto-pilot controller be it is abnormal, and the state of sensor group be it is normal, according to sensing
The environmental information of device group acquisition, control vehicle drive into target lane and stop, and target lane is to lean in the affiliated road of current lane
The lane on shortcut side.
Step 103, if the state of sensor group is exception, control vehicle stops in current lane.
It is exemplary, according to the state of the state of auto-pilot controller and sensor group, it is different to can control vehicle selection
Strategy stop.If the state of auto-pilot controller is abnormal, and the state of sensor group is normal, sensor at this time
Group still is able to normal acquisition environmental information, i.e. vehicle still is able to perceive: whether there are obstacles on current lane, works as front truck
Whether there are obstacles in the affiliated road in road, has the information such as several lanes in affiliated road.It therefore can be according to environmental information control
Vehicle processed slowly drives into target lane according to certain deceleration and stops, and further, drives into target lane in control vehicle
When parking, turn signal (such as: right-hand rotation lamp), brake lamp and the danger alarm lamp that can also control vehicle are opened, to prompt vehicle
The pedestrian of surrounding and other vehicles.Wherein, target lane be the affiliated road of current lane in close to roadside lane (such as: most
Right-hand lane).If the state of sensor group be it is abnormal, at this time sensor group can not normal acquisition environmental information, i.e. vehicle can not
The environment of current driving is perceived, this scene be easy to cause traffic accident, therefore can control vehicle and working as front truck than relatively hazardous
Road parking.Likewise, the brake lamp and danger alarm lamp that can also control vehicle are beaten controlling vehicle when current lane stops
It opens, to prompt pedestrian and other vehicles of vehicle periphery.
In conclusion the disclosure obtains the state of the automatic Pilot component of current time vehicle first, wherein dynamic driving group
Just whether part includes auto-pilot controller and sensor group, later according to auto-pilot controller and sensor group state
Often, it stops to control vehicle, if the state of auto-pilot controller is exception, the state of sensor group is normal, then
According to the environmental information that sensor group acquires, controls the roadside lane that vehicle drives into the affiliated road of current lane and stop, if
The state of sensor group is exception, and control vehicle stops in current lane.It can be when Vehicular automatic driving fails, according to automatic
Whether driving controller and sensor group state is normal, stops, is avoided come since driver fails to control vehicle
Timely adapter tube vehicle, the problem of causing to lose control of one's vehicle, improves the degree of safety of vehicle driving.
Fig. 2 is the flow chart of the control method of another automatic driving vehicle shown according to an exemplary embodiment, such as
Shown in Fig. 2, step 102 can be realized by following steps:
Step 1021, according to environmental information, in the boundary and the affiliated road of current lane for identifying the affiliated road of current lane
Barrier.
Specifically, the state in auto-pilot controller is exception, the state of sensor group is under normal scene, first
The barrier in the boundary and the affiliated road of current lane of the affiliated road of current lane can be identified according to environmental information.Example
Such as, the image of vehicle periphery can be acquired in real time according to the camera in sensor group, calculated later using preset image recognition
Method handles image, to determine the road information and obstacle information in image.Wherein, image recognition algorithm for example can be with
Be SSD (English: Single Shot MultiBox Detector, Chinese: the more box detectors of single-shot) algorithm, YOLO (English:
You Only Look Once) algorithm or Faster-RCNN (English: Faster-Regions with Convolutional
Neural Network features) algorithm etc..Further, can according to limb recognition algorithm (such as: the edge Canny examine
Method of determining and calculating, Roberts edge detection algorithm etc.) boundary of the affiliated road of current lane of extraction vehicle, vehicle from road information
The information such as diatom, and according to obstacle information determine the road present in barrier position coordinates.
Step 1022, target lane is determined according to the boundary of the affiliated road of current lane.
Step 1023, according to the barrier in target lane and the affiliated road of current lane, the steering angle of vehicle is determined
With the first braking torque.
It is exemplary, according to the boundary of the affiliated road of current lane, determine in the affiliated road near the lane in roadside, it can
To be interpreted as rightmost side lane.Can also according in sensor module positioning component and map components determine the current position of vehicle
It sets, position current according to target lane and vehicle later determines the steering angle of vehicle.Likewise, according to current lane institute
Belong to the barrier in road, determines vehicle at a distance from barrier, further determine that vehicle will stop on target lane, need
Deceleration, so that it is determined that the first braking torque.
Step 1024, target lane is driven into according to steering angle and the first braking torque control vehicle and stop.
Later, steering angle can be sent to vehicle EPS (English: Electric Power Steering, Chinese:
Electric boosting steering system), controlling Vehicular turn by EPS (while can also control the turn signal, brake lamp and danger of vehicle
Alarm lamp open), by the first braking torque be sent to vehicle ESP (English: Electronic Stability Program,
Chinese: body electronics systems stabilisation), vehicle parking is controlled by ESP.It, can be real-time since sensor group can work normally
Environmental information is acquired, to adjust the steering angle and the first braking torque of vehicle in real time, therefore can be by the first braking torque
It is set as lesser value, is slowly stopped with controlling vehicle, to meet vehicle as far as possible under the premise of guaranteeing vehicle safety parking
Requirement of the driver and passenger to comfort level on.
Fig. 3 is the flow chart of the control method of another automatic driving vehicle shown according to an exemplary embodiment, such as
Shown in Fig. 3, when being provided with external range sensor on vehicle, step 103 can be realized by following steps:
Step 1031, the state of external range sensor is obtained.
Step 1032, if the state of external range sensor is distance letter that is normal, being acquired according to external range sensor
Breath stops according to the second braking torque control vehicle in current lane.
Specifically, step 1032 may include:
Step A) according to range information, determine the second braking torque, range information include vehicle-to-target barrier away from
From target obstacle is the nearest barrier with vehicle in the driving direction of vehicle.
Step B) it stops according to the second braking torque control vehicle in current lane.
Step 1033, if the state of external range sensor is exception, according to third braking torque control vehicle current
Lane parking, third braking torque are greater than or equal to the second braking torque.
For example, in order to further improve the degree of safety of vehicle driving, external distance is also provided on vehicle
Sensor, when automatic Pilot component occurs abnormal, vehicle still is able to obtain the distance between barrier information, to control
Vehicle safety parking processed.Wherein, external range sensor can be with are as follows: optical distance sensor (such as: laser radar), it is infrared away from
From sensor, ultrasonic distance sensor (such as: ultrasonic radar).
For example, when the state of sensor group is abnormal, the state of available external range sensor.If external
The state of range sensor is normal, then the range information that can be acquired according to external range sensor, determines that vehicle will be
Current lane secure parking, required second braking torque, wherein range information may include the traveling side of vehicle and vehicle
Upwards, the barrier the distance between nearest with vehicle.Second braking torque is sent to the ESP of vehicle later, is controlled by ESP
Vehicle processed stops (while the brake lamp and danger alarm lamp opening that can also control vehicle) in current lane.Second braking torque
Size according to range information determine, range information is smaller, and the second braking torque is bigger, i.e. the faster parking of vehicle, range information
Bigger, the second braking torque is smaller, i.e., vehicle slowly stops.Since the range information of external range sensor acquisition is only used for controlling
Vehicle parking processed, therefore the required precision for information of adjusting the distance is not high, in order to save cost, ultrasonic radar can be selected as outer
Set range sensor.
Further, if if the state of external range sensor be also it is abnormal, vehicle will be unable to obtain with barrier it
Between range information, this scene is than relatively hazardous, it is easy to cause traffic accident, therefore it is tight in current lane to can control vehicle
Emergency stop vehicle.Such as third braking torque can be determined as to the maximum braking torque that vehicle is capable of providing, then third is braked and is turned round
Square is sent to the ESP of vehicle, by ESP control vehicle current lane parking (while can also control vehicle brake lamp and
Danger alarm lamp is opened).Wherein, third braking torque is greater than or equal to the second braking torque, it can be understood as third braking is turned round
Square is the maximum braking torque that vehicle is capable of providing, and the state for working as external range sensor is normal, and external Distance-sensing
When the range information of device acquisition indicates that the distance of vehicle-to-target barrier is close, vehicle is also required to stop in emergency, and corresponding the
Two braking torques may be set to be the maximum braking torque that vehicle is capable of providing.
In another implementation, step 102 may include:
If specified operation is not detected in step 1), according to environmental information, controls vehicle and drive into target lane and stop, specify
Operation has entered manual drive mode for characterizing vehicle.
If step 2) detects specified operation, vehicle driving is controlled according to specified operation.
Step 103 may include:
If specified operation is not detected in step 3), control vehicle stops in current lane.
If step 4) detects specified operation, vehicle driving is controlled according to specified operation.
For example, it is abnormal to be that automatic Pilot component occurs for scene involved in foregoing description embodiment, driver without
The scene of method adapter tube vehicle in time.When detecting that automatic Pilot component occurs abnormal, (can also be shown in middle control by image
Screen or with display alarm information in the terminal of vehicle binding) or sound (such as control loudspeaker to issue alarm sound) mention
Show that driver's Function for Automatic Pilot has abnormal (i.e. automatic Pilot component occurs abnormal).If after driver receives prompt, passing through
Specified operation is executed, adapter tube vehicle, i.e. vehicle have entered manual drive mode, then by the corresponding priority of the operation of driver
It is set as highest, is travelled according to the operation control vehicle of driver.Wherein, specified operation may include: to touch on the brake suddenly, is square
At least one of be greater than preset angle threshold to the rotation angle of disk, close automatic Pilot switch.In a step 102, such as
Fruit detects specified operation, then controlling vehicle driving according to specified operation, specified operation is not detected, according to environmental information,
Control vehicle drives into target lane and stops.Likewise, in step 103, if detecting specified operation, according to specified
Operation control vehicle driving, is not detected specified operation, and control vehicle stops in current lane.
In conclusion the disclosure obtains the state of the automatic Pilot component of current time vehicle first, wherein dynamic driving group
Just whether part includes auto-pilot controller and sensor group, later according to auto-pilot controller and sensor group state
Often, it stops to control vehicle, if the state of auto-pilot controller is exception, the state of sensor group is normal, then
According to the environmental information that sensor group acquires, controls the roadside lane that vehicle drives into the affiliated road of current lane and stop, if
The state of sensor group is exception, and control vehicle stops in current lane.It can be when Vehicular automatic driving fails, according to automatic
Whether driving controller and sensor group state is normal, stops, is avoided come since driver fails to control vehicle
Timely adapter tube vehicle, the problem of causing to lose control of one's vehicle, improves the degree of safety of vehicle driving.
Fig. 4 is a kind of block diagram of the control device of automatic driving vehicle shown according to an exemplary embodiment, such as Fig. 4 institute
Show, which includes:
Module 201, the state of the automatic Pilot component for obtaining current time vehicle are obtained, automatic Pilot component includes
Auto-pilot controller and sensor group.
First control module 202, if the state for auto-pilot controller is abnormal, and the state of sensor group is positive
Often, the environmental information acquired according to sensor group, control vehicle drive into target lane and stop, and target lane is current lane institute
Belong to the lane in road close to roadside.
Second control module 203, if the state for sensor group is exception, control vehicle stops in current lane.
Fig. 5 is the block diagram of the control device of another automatic driving vehicle shown according to an exemplary embodiment, such as Fig. 5
Shown, the first control module 202 includes:
Submodule 2021 is identified, for identifying boundary and the current lane of the affiliated road of current lane according to environmental information
Barrier in affiliated road.
Submodule 2022 is determined, for determining target lane according to the boundary of the affiliated road of current lane.
It determines submodule 2022, is also used to determine vehicle according to the barrier in target lane and the affiliated road of current lane
Steering angle and the first braking torque.
First control submodule 2023, for driving into target lane according to steering angle and the first braking torque control vehicle
And it stops.
Fig. 6 is the block diagram of the control device of another automatic driving vehicle shown according to an exemplary embodiment, such as Fig. 6
It is shown, external range sensor is provided on vehicle, the second control module 203 includes:
Acquisition submodule 2031, for obtaining the state of external range sensor.
Second control submodule 2032, if the state for external range sensor be it is normal, according to external Distance-sensing
The range information of device acquisition stops according to the second braking torque control vehicle in current lane.
Third control submodule 2033, if the state for external range sensor is exception, according to third braking torque
It controls vehicle to stop in current lane, third braking torque is greater than or equal to the second braking torque.
Optionally, the second control submodule 2032 can be used to implement following steps:
Step A) according to range information, determine the second braking torque, range information include vehicle-to-target barrier away from
From target obstacle is the nearest barrier with vehicle in the driving direction of vehicle.
Step B) it stops according to the second braking torque control vehicle in current lane.
In another implementation, the first control module 202 can be used for executing following steps:
If specified operation is not detected in step 1), according to environmental information, controls vehicle and drive into target lane and stop, specify
Operation has entered manual drive mode for characterizing vehicle.
If step 2) detects specified operation, vehicle driving is controlled according to specified operation.
Second control module 203 can be used for executing following steps:
If specified operation is not detected in step 3), control vehicle stops in current lane.
If step 4) detects specified operation, vehicle driving is controlled according to specified operation.
About the device in above-described embodiment, wherein modules execute the concrete mode of operation in related this method
Embodiment in be described in detail, no detailed explanation will be given here.
In conclusion the disclosure obtains the state of the automatic Pilot component of current time vehicle first, wherein dynamic driving group
Just whether part includes auto-pilot controller and sensor group, later according to auto-pilot controller and sensor group state
Often, it stops to control vehicle, if the state of auto-pilot controller is exception, the state of sensor group is normal, then
According to the environmental information that sensor group acquires, controls the roadside lane that vehicle drives into the affiliated road of current lane and stop, if
The state of sensor group is exception, and control vehicle stops in current lane.It can be when Vehicular automatic driving fails, according to automatic
Whether driving controller and sensor group state is normal, stops, is avoided come since driver fails to control vehicle
Timely adapter tube vehicle, the problem of causing to lose control of one's vehicle, improves the degree of safety of vehicle driving.
Fig. 7 is a kind of block diagram of vehicle shown according to an exemplary embodiment, as shown in fig. 7, being arranged on the vehicle 300
There are automatic Pilot component 301 and controller 302, automatic Pilot component 301 includes auto-pilot controller 3011 and sensor group
3012, controller 302 is for the step of executing the control method of any automatic driving vehicle provided in Fig. 1 to Fig. 3.
About the vehicle in above-described embodiment, wherein modules execute the concrete mode of operation in related this method
Embodiment in be described in detail, no detailed explanation will be given here.
In conclusion the disclosure obtains the state of the automatic Pilot component of current time vehicle first, wherein dynamic driving group
Just whether part includes auto-pilot controller and sensor group, later according to auto-pilot controller and sensor group state
Often, it stops to control vehicle, if the state of auto-pilot controller is exception, the state of sensor group is normal, then
According to the environmental information that sensor group acquires, controls the roadside lane that vehicle drives into the affiliated road of current lane and stop, if
The state of sensor group is exception, and control vehicle stops in current lane.It can be when Vehicular automatic driving fails, according to automatic
Whether driving controller and sensor group state is normal, stops, is avoided come since driver fails to control vehicle
Timely adapter tube vehicle, the problem of causing to lose control of one's vehicle, improves the degree of safety of vehicle driving.
The preferred embodiment of the disclosure is described in detail in conjunction with attached drawing above, still, the disclosure is not limited to above-mentioned reality
The detail in mode is applied, in the range of the technology design of the disclosure, a variety of letters can be carried out to the technical solution of the disclosure
Monotropic type, these simple variants belong to the protection scope of the disclosure.
It is further to note that specific technical features described in the above specific embodiments, in not lance
In the case where shield, can be combined in any appropriate way, in order to avoid unnecessary repetition, the disclosure to it is various can
No further explanation will be given for the combination of energy.
In addition, any combination can also be carried out between a variety of different embodiments of the disclosure, as long as it is without prejudice to originally
Disclosed thought equally should be considered as disclosure disclosure of that.
Claims (11)
1. a kind of control method of automatic driving vehicle, which is characterized in that the described method includes:
Obtain current time vehicle automatic Pilot component state, the automatic Pilot component include auto-pilot controller and
Sensor group；
If the state of the auto-pilot controller be it is abnormal, and the state of the sensor group be it is normal, according to the sensing
The environmental information of device group acquisition, controls the vehicle and drives into target lane and stop, and the target lane is belonging to current lane
Close to the lane in roadside in road；
If the state of the sensor group is exception, controls the vehicle and stop in the current lane.
2. if the method according to claim 1, wherein the state of the auto-pilot controller is different
Often, and the state of the sensor group be it is normal, according to the sensor group acquire environmental information, control the vehicle and drive into
It simultaneously stops in target lane, comprising:
According to the environmental information, identify in the boundary and the affiliated road of the current lane of the affiliated road of the current lane
Barrier；
The target lane is determined according to the boundary of the affiliated road of the current lane；
According to the barrier in the target lane and the affiliated road of the current lane, determine the vehicle steering angle and
First braking torque；
The target lane is driven into according to the steering angle and first braking torque control vehicle and is stopped.
3. described the method according to claim 1, wherein be provided with external range sensor on the vehicle
If the state of the sensor group is exception, controls the vehicle and stops in the current lane, comprising:
Obtain the state of the external range sensor；
If the state of the external range sensor be it is normal, according to the range information of the external range sensor acquisition, press
The vehicle is controlled according to the second braking torque to stop in the current lane；
If the state of the external range sensor is exception, the vehicle is controlled according to third braking torque and works as front truck described
Road parking, the third braking torque are greater than or equal to second braking torque.
4. if according to the method described in claim 3, it is characterized in that, the state of the external range sensor is positive
Often, according to the range information of the external range sensor acquisition, the vehicle is controlled according to the second braking torque and is worked as described
Preceding lane parking, comprising:
According to the range information, determine that second braking torque, the range information include the vehicle-to-target obstacle
The distance of object, the target obstacle are the nearest barrier with the vehicle in the driving direction of the vehicle；
The vehicle is controlled according to second braking torque to stop in the current lane.
5. method according to any of claims 1-4, which is characterized in that if the auto-pilot controller
State be it is abnormal, and the state of the sensor group be it is normal, according to the environmental information of sensor group acquisition, described in control
Vehicle drives into target lane and stops, comprising:
If specified operation is not detected, according to the environmental information, controls the vehicle and drive into the target lane and stop, institute
It states specified operation and has entered manual drive mode for characterizing the vehicle；
If detecting the specified operation, the vehicle driving is controlled according to the specified operation；
If the state of the sensor group is exception, controls the vehicle and stops in the current lane, comprising:
If the specified operation is not detected, controls the vehicle and stop in the current lane；
If detecting the specified operation, the vehicle driving is controlled according to the specified operation.
6. a kind of control device of automatic driving vehicle, which is characterized in that described device includes:
Module, the state of the automatic Pilot component for obtaining current time vehicle are obtained, the automatic Pilot component includes certainly
Dynamic driving controller and sensor group；
First control module, if the state for the auto-pilot controller is abnormal, and the state of the sensor group is
Normally, the environmental information acquired according to the sensor group, controls the vehicle and drives into target lane and stop, the target carriage
Road is the lane in the affiliated road of current lane close to roadside；
Second control module controls the vehicle and stops in the current lane if the state for the sensor group is exception
Vehicle.
7. device according to claim 6, which is characterized in that first control module includes:
Submodule is identified, for according to the environmental information, identifying the boundary of the affiliated road of the current lane and described current
Barrier in the affiliated road in lane；
Submodule is determined, for determining the target lane according to the boundary of the affiliated road of the current lane；
The determining submodule is also used to according to the barrier in the target lane and the affiliated road of the current lane, really
The steering angle and the first braking torque of the fixed vehicle；
First control submodule, it is described for being driven into according to the steering angle and first braking torque control vehicle
It simultaneously stops in target lane.
8. device according to claim 6, which is characterized in that external range sensor is provided on the vehicle, it is described
Second control module includes:
Acquisition submodule, for obtaining the state of the external range sensor；
Second control submodule, if the state for the external range sensor be it is normal, according to the external Distance-sensing
The range information of device acquisition controls the vehicle according to the second braking torque and stops in the current lane；
Third control submodule controls if the state for the external range sensor is exception according to third braking torque
The vehicle stops in the current lane, and the third braking torque is greater than or equal to second braking torque.
9. device according to claim 8, which is characterized in that second control submodule is used for:
According to the range information, determine that second braking torque, the range information include the vehicle-to-target obstacle
The distance of object, the target obstacle are the nearest barrier with the vehicle in the driving direction of the vehicle；
The vehicle is controlled according to second braking torque to stop in the current lane.
10. the device according to any one of claim 6-9, which is characterized in that first control module is used for:
If specified operation is not detected, according to the environmental information, controls the vehicle and drive into the target lane and stop, institute
It states specified operation and has entered manual drive mode for characterizing the vehicle；
If detecting the specified operation, the vehicle driving is controlled according to the specified operation；
Second control module is used for:
If the specified operation is not detected, controls the vehicle and stop in the current lane；
If detecting the specified operation, the vehicle driving is controlled according to the specified operation.
11. a kind of vehicle, which is characterized in that be provided with automatic Pilot component and controller, the automatic Pilot on the vehicle
Component includes auto-pilot controller and sensor group, and the controller requires side described in any one of 1-5 for perform claim
Step in method.
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| CN201910563469.9A CN110386148B (en) | 2019-06-26 | 2019-06-26 | Control method and device for automatic driving vehicle and vehicle |
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| CN110901659A (en) * | 2019-12-10 | 2020-03-24 | 新石器慧通（北京）科技有限公司 | Terminal control method and system |
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| WO2023050129A1 (en) * | 2021-09-29 | 2023-04-06 | 华为技术有限公司 | Vehicle control method and apparatus |
| CN113928325A (en) * | 2021-12-17 | 2022-01-14 | 深圳佑驾创新科技有限公司 | Driving auxiliary takeover prompting method and device, terminal equipment and storage medium |
| CN114648886A (en) * | 2022-03-07 | 2022-06-21 | 深圳市腾运发电子有限公司 | New energy automobile control method and device, electronic equipment and storage medium |
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